System and method for applying force to a device

This application is a continuation of U.S. patent application Ser. No. 16/997,384, filed Aug. 19, 2020, now U.S. Pat. No. 11,543,336, issued Jan. 3, 2023, entitled System and Method for Applying Force to a Device, which is a continuation of U.S. patent application Ser. No. 16/420,698, filed May 23, 2019, now U.S. Pat. No. 10,782,217, issued Sep. 22, 2020, entitled System and Method for Applying Force to a Device, which is a divisional of U.S. patent application Ser. No. 15/648,378, filed Jul. 12, 2017, entitled System and Method for Applying Force to a Device, now U.S. Pat. No. 10,345,208, issued Jul. 9, 2019, which claims the benefit of U.S. Provisional Patent Application Ser. No. 62/361,204 filed Jul. 12, 2016, entitled System and Method for Applying Force to a Device, and U.S. Provisional Patent Application Ser. No. 62/361,209 filed Jul. 12, 2016, entitled System and Method for Controlling Motion, all of which are incorporated herein by reference in their entirety.

The present teachings relate generally to applying force to a device, and more specifically to actuating systems and methods that can apply force to devices to, for example, test devices.

Quality, performance, and reliability of devices can be exercised through the use of conformance and performance tests. Typical conformance and performance tests can include cycle testing using air, water, and steam, cycle testing against vacuum and positive pressure at various densities, varying pressure conditions, and cycle testing at ambient, cold, and elevated temperatures. Such tests can lack the precision that can be required for extremely find-scale force applications and their monitoring.

What are needed are systems and methods that can apply force precisely to a large range of devices, and monitor the reaction of the devices to the applied force. What are further needed are systems and methods that can coordinate force application across parts of a device, and/or across multiple devices. What are still further needed are systems and methods that can apply a range of forces simultaneously to multiple devices and/or multiple parts of a single or multiple devices, and/or sequentially to multiple devices and/or multiple parts of a single device or multiple devices.

A method of the present teachings for applying a constant force to a device can include, but is not limited to including, setting a target position of a pin with respect to the device, setting a target force that the pin will apply to the device, moving the pin towards the device, stopping the movement of the pin when the first of a force exerted on the device by the pin substantially equals the target force, or a position of the pin substantially equals the target position happens, and modifying the position of the pin to maintain the force of the pin on the device at substantially constant.

A method of the present teachings for applying pressure to a device can include, but is not limited to including, pressurizing the device, setting a target position of a pin with respect to the device, setting a target force that the pin will apply to the device, moving the pin towards the device, stopping the movement of the pin when the first of a force exerted on the device by the pin substantially equals the target force, or a position of the pin substantially equals the target position happens, holding the position of the pin substantially constant, and monitoring the force over time.

A method for testing a device can include, but is not limited to including, setting a target first characteristic of a pressure actuator, the pressure actuator having an actual first characteristic, setting a target second characteristic of the pressure actuator, the pressure actuator having an actual second characteristic, adjusting the pressure actuator, the adjusting enabling the actual first characteristic to approach the target first characteristic, and the actual second characteristic to approach the target second characteristic, stopping the adjusting when the first of the actual first characteristic substantially equals the target first characteristic, or the actual second characteristic substantially equals the target second characteristic happens, adjusting the actual first characteristic to maintain the target second characteristic substantially constant, and testing the device by monitoring the actual first characteristic over time.

A system of the present teachings for applying force to a device can include, but is not limited to including, at least one platform, at least one device cage operably coupled with at least one platform, at least one device cover operably coupled with the at least one device cage, the device cage housing the device, at least one pressure actuator assembly substantially aligned with the device cage and operably coupled with the at least one platform, and at least one motion controller operably coupled with the at least one pressure actuator assembly, the at least one motion controller setting a target first characteristic of the at least one pressure actuator assembly, the pressure actuator assembly having an actual first characteristic, the at least one controller setting a target second characteristic of the at least one pressure actuator assembly, the at least one pressure actuator assembly having an actual second characteristic, the at least one motion controller adjusting the at least one pressure actuator assembly, the adjusting enabling the actual first characteristic to approach the target first characteristic, and the actual second characteristic to approach the target second characteristic and stopping the adjusting when the first of the actual first characteristic substantially equals the target first characteristic, or the actual second characteristic substantially equals the target second characteristic happens, the at least one motion controller adjusting the actual first characteristic to maintain the target second characteristic substantially constant.

The method of the present teachings for automatically adjusting actual characteristics to meet target characteristics can include, but is not limited to including, receiving a at least one target characteristic selection, arranging the at least one target characteristic into at least one first message, and transmitting the at least one first message to a motion controller. The method can also include generating, by the motion controller, at least one second message, the at least one second message including information required to adjust the at least one target characteristic, transmitting, by the motion controller, the at least one second message to at least one actuator node, and adjusting, by the at least one actuator node, at least one actual characteristic to meet the at least one target characteristic, if necessary. The method can optionally include checking, by the actuator node, the integrity of the at least one second message, and generating, by the actuator node, at least one third message including a status of the at least one second message.

The method of the present teachings for testing a device can include, but is not limited to including, setting a target position of a pin with respect to the device, and setting a target force being applied by the pin to the device. The pin can have an actual position and actual force. The method can include moving the pin towards the target position, stopping the movement of the pin when either the actual force exerted on the device by the pin substantially equals the target force, or the actual position of the pin substantially equals the target position. The method can include testing the device by comparing either the actual force or the actual position with at least one benchmark value to determine if the device meets pre-selected criteria at the target position or under the target force.

The method can optionally include monitoring the actual position over time, monitoring the actual force over time, modifying the position of the pin to maintain the force of the pin on the device at substantially constant, holding the actual position of the pin substantially constant, pressurizing the device, and testing the pressurized device by monitoring the actual force over time.

The method of the present teachings for testing a device can include, but is not limited to including, setting a target first characteristic of a pressure actuator, setting a target second characteristic of the pressure actuator, and adjusting the pressure actuator. The pressure actuator having an actual first characteristic and an actual second characteristic. The adjusting can include enabling the actual first characteristic to approach the target first characteristic, and enabling the actual second characteristic to approach the target second characteristic. The method can include stopping the adjusting when the first of the actual first characteristic substantially equals the target first characteristic, or the actual second characteristic substantially equals the target second characteristic happens. The method can include adjusting the actual first characteristic to maintain the target second characteristic substantially constant, and testing the device by monitoring the actual first characteristic over time.

The system of the present teachings for testing a device can include, but is not limited to including, at least one platform, at least one holder mount operably coupled with the platform, at least one device holder operably coupled with the holder mount, at least one device cover operably coupled with the holder mount, and at least one device cage insertably coupled with the at least one device holder. The device cage can house the device. The system can include at least one pressure actuator assembly substantially aligned with the device cage at pre-selected test points, and at least one controller setting a target first characteristic of the at least one pressure actuator assembly. The at least one pressure actuator assembly can include an actual first characteristic, and the at least one controller can set a target second characteristic of the at least one pressure actuator assembly. The at least one pressure actuator assembly can include an actual second characteristic, and the at least one controller can adjust the at least one pressure actuator assembly. The adjusting can enable the actual first characteristic to approach the target first characteristic, can enable the actual second characteristic to approach the target second characteristic, and can stop the adjusting when the first of the actual first characteristic substantially equals the target first characteristic, or when the actual second characteristic substantially equals the target second characteristic happens. The at least one controller can adjust the actual first characteristic to maintain the target second characteristic substantially constant. The at least one controller can test the device by monitoring the actual first characteristic over time.

The actual first characteristic can optionally include an actual force and the target first characteristic can optionally include a target force. The actual second characteristic can include actual position and the target first characteristic can include target position. The pressure actuator assembly can optionally include an actuator arm that can couple electronic and mechanical movement means to move and position a pin actuator. The pin actuator can provide the target force on the device. The pressure actuator assembly can optionally include a linear actuator moving the actuator arm towards the target position. The actuator arm can force the device based at least on commands provided by the at least one controller. The pressure actuator assembly can optionally include an actuator mount coupling the linear actuator with a controller housing enclosing the at least one controller. The actuator mount can optionally include fastening cavities coupling the actuator mount with a platform. The actuator mount can optionally include actuator mounting cavities accommodating at least one alignment peg. The pressure actuator assembly can optionally include a motor interface that can couple a motor to the linear actuator. The linear actuator can include operable coupling with a slide block. The slide block can include operable coupling with the actuator arm. The slide block can travel along the linear actuator, and can change the actual position of the actuator arm, moving the actuator arm towards the target position. The system can optionally include a communications means that can couple the pressure actuator assembly with the at least one controller.

The test system of the present teachings for testing at least one device can include, but is not limited to including, at least one force actuator and a processor that can access at least one description of the at least one device. The processor can create command information based at least on the at least one description, and the processor can receive feedback from the at least one force actuator. The test system can include a controller that can access the motion information. The controller can create at least one control command based on the command information. The controller can test the at least one device by controlling the at least one force actuator based on the at least one control command.

The controller can optionally include a group processor managing at least one group. Each group can include either an active or an inactive status. Each of the active groups can include at least one node object. The group processor can access one of the control commands for each of the node objects. The controller can optionally include a node processor that can update the at least one node object based on the command information, and at least one actuator driver that can relay the at least one control command between the updated at least one node object and at least one hardware device. The at least one actuator driver can communicate the at least one control command to the at least one hardware device through at least one hardware driver. The test system can optionally include a command interface that can provide the control information to the at least one node processor, and can receive sensor information from at least one sensor processor. The test system can optionally simultaneously control multiple of the at least one force actuators.

A configuration of the system and method for applying pressure to a device of the present teachings is discussed in detail herein in relation to testing of diaphragm valves, prosthetic arms, and other applications. Various types of applications may take advantage of the features of the present teachings.

Referring now to, force actuation systemfor applying force to a device can accommodate the placement of a device with respect to the forcing mechanism, the controlled actuation of the forcing mechanism, and the monitoring of results. The forcing mechanism, also referred to herein as a pressure actuator, can be associated with actual and target characteristics such as, for example, actual and target forces. The target characteristics can be selected based at least on the device. The pressure actuator can be adjusted to enable the actual characteristics to approach the target characteristics, and the adjustment can be stopped when one of the actual characteristics substantially equals its counterpart target characteristic. Conversely, at least one characteristic, for example, force, can be held constant while the position of actuator armH () changes. Force actuation systemcan include, but is not limited to including, at least one pressure actuator assemblythat can be operably coupled with platform. At least one pressure actuator assemblycan provide the forcing mechanism, controlled actuation, and result monitoring. Force actuation systemcan accommodate a placement and alignment means for the device that can be operably coupled with at least one pressure actuator assembly. In some configurations, multiple of at least one pressure actuator assemblycan be provided that can force multiple parts of the device, and/or multiple devices sequentially and/or in parallel, depending on the application. For example, if a single device includes multiple membranes, multiple pressure actuator assembliescan be aligned with each of the multiple membranes. Pressure actuator assembliescan exercise the multiple membranes asynchronously or in parallel, for example, to exercise the entirety of the device versus the individual membranes. Pressure actuator assembliescan exercise individual of the multiple membranes completely or partially independently by, for example, controlling the timing of pin actuation. Force actuation systemcan apply force to many types and styles of devices. Actuator assemblycan be positioned on platform, and device covercan include cavities, that can together accommodate any number of device geometries.

Referring now to, force actuation systemcan include, but is not limited to including, accommodations for device. Each of these accommodations can be modified for a particular device. The description herein relates to a cassette, but force actuation systemis not limited to applying force to the particular described cassette, or cassettes in general. Device accommodations can include, but are not limited to including, at least one holder mountoperably coupled with platform, at least one device holderoperably coupled with holder mount, and at least one device coveroperably coupled with holder mount. Force actuation systemcan include at least one pin actuatorthat can provide the forcing interface between at least one deviceand pressure actuator assembly. At least one devicecan be insertably coupled with at least one device holder. Force actuation systemcan include end effector offsetthat can couple pressure actuator assemblywith at least one pin actuator. Pressure actuator assemblycan be coupled with platformusing, for example, but not limited to at least one alignment peg. Set screwsandcan provide side and top mounting and alignment of device holder. Pressure sealcan enable fluid-tight forcing.

Referring now primarily to, platformcan stably support the elements of force actuation system. Platformcan be any size, and can include any number of mounting cavities in any configuration that can accommodate the placement the number of pressure actuator assemblies() appropriate for the particular device to be forced. Platformcan include, but is not limited to including, platform first sideA that can accommodate mounting of, for example, but not limited to, at least one holder mount() and at least one pressure actuator assembly(). Platformcan include platform second sideC that can accommodate, for example, four actuator mounting cavitiesD/F/G/H and two platform mounting cavitiesE. For example, a first of at least one pressure actuator assembly() can be aligned with and mount at actuator mounting cavitiesD, a second of at least one pressure actuator assembly() can be aligned with and mount at actuator mounting cavitiesF, a third of at least one pressure actuator assembly() can be aligned with and mount at actuator mounting cavitiesG, and a fourth of at least one pressure actuator assembly() can be aligned with and mount at actuator mounting cavitiesH. In some configurations, mounting cavitiesD/E/F/G/H can optionally accommodate fastener flush mount. Actuator mounting cavitiesD/F/G/H can each include, for example, but not limited to, five cavities that can include various sizes and shapes of cavities.

Referring now primarily to, at least one holder mountcan provide secure mounting and venting for the device to which pressure is to be applied, for example, but not limited to, device(). Holder mountcan be any size and shape, and can include any number of mounting cavities appropriate for a particular device to be forced. Holder mountdescribed herein include features that can enable accurate forcing such as, for example, cavity configurations and set screw features. At least one holder mountcan optionally accommodate, on holder mount first sideA, drop-on and/or slide-in mounting of device() in device holder cut-outM. Holder mount first sideA can include holder mount first edgeE that can include edge mounting cavitiesF that can accommodate operable coupling between at least one holder mountand at least one device cage(). Device holder cut-outM can include cut-out mounting cavitiesG that can accommodate further operable coupling between at least one holder mountand at least one device cage(), and can further provide venting for device(). Holder mount first sideA can include lid mounting cavitiesJ that can accommodate placement and operable coupling between at least one lid() and at least one holder mount. At least one holder mountcan include holder mount third edgeI that can optionally include at least one cut-outM. At least one cut-outM can accommodate slide-in mounting of device cage(). At least one cut-outM can be any shape and size, and the shape and size can depend, for example, but not limited to, on the shape and size of at least one device cage(). Holder mount third edgeI can optionally form an enclosure in which at least one cut-outM can accommodate drop-in mounting of at least one device cage(). At least one cut-outM can include at least one beveled edgeH that can facilitate placement of at least one device cage(). At least one holder mountcan include, but is not limited to including, holder mount second sideC that can include at least one holder platform mounting cavityK. At least one cavityK can optionally accommodate flush mounting of fasteners. Holder platform mounting cavitiesD can accommodate fasteners that can operably couple at least one holder mountwith platform(). At least one alignment peg() can, for example, but not limited to, provide the operable coupling and alignment between at least one holder mountand platform() at mounting cavitiesK. At least one alignment peg() can also provide alignment and mounting features between at least one holder mountand at least one lid() using, for example, but not limited to at least one alignment peg() encased within at least one peg mounting cavityD.

Referring now to, alignment pegcan include, for example, but not limited to, cylindrical bodyC, first endA, and second endB. First endA and second endB can optionally include beveled edges.

Referring now primarily to, exemplary deviceis described herein to illustrate the features of force actuation system(). Many other types and sizes of devices can be forced with force actuation system(). Exemplary devicecan include, but is not limited to including, a cassette, for example, a disposable housing assembly as described in detail in, for example, '646. The disposable housing assembly can include disposable base bottomoperably coupled with disposable base top/top gasket/membrane gasket-//. Membrane gasket-can retain coated membranein position in disposable base top-. Fluid, including air, can enter the cassette through a luer lock adapter, and composite tube, and can further continue into the cassette through fluid path cover. Fluid path covercan be operably connected to bent-u needle. Bent-u needlecan be held in place by needle gasketand can provide a channel for fluid flow from composite tubeto fluid path membrane. Disposable base needle covercan cover and protect fluid path cover. An o-ring can secure the operable coupling between bent-u needleand disposable base top.

Referring now primarily to, fluid path membrane() can allow for pumping and flow of fluid. Disposable base top-can include one or more openingsD that can expose at least a portion of fluid path membrane() for actuation by pin actuator(). OpeningsD can allow the fill volume to be controlled during filling of wellC.

Referring now to, the disposable housing assembly can include fluid path membrane. Fluid path membranecan include at least partial disposal over volcano valves and a pumping recess included on/within disposable base bottom(). Fluid path membranemay include a flexible material, e.g., which may be selectively engaged against volcano valves by pin actuator() at membranesA to force the disposable housing assembly. Any of membranesA can be forced simultaneously and/or individually by depressing at least one of membranesA and monitoring the result. Depressed membranesA can alter the shapes of valve cavitiesB.

Referring now to, at least one device cagecan accommodate, for example, device() that can include, but is not limited to including, an insulin pump cassette such as those described in U.S. Pat. No. 8,496,646 entitled Infusion Pump Assembly, issued on Jul. 30, 2013 ('646). At least one device cagecan include, but is not limited to including, cage first sideA. Cage first sideA can include device wellB having at least one well earC that can accommodate, for example, removing of device(), and having device positing indentK that can accommodate, for example, positioning of device(). At least one device cagecan include at least one cage handleG that can optionally include thumb restJ. In some configurations, cage first sideA can include cavityF that can accommodate, for example, but not limited to, flexible-tipped set screw() that can provide alignment and fastening of at least one device cageto at least one lid(). Cage first sideA can include tube wellH that can accommodate composite tube(), for example. WellsD andE can accommodate venting and mounting features, for example. At least one device cagecan include cage second sidethat can, for example, include a smoothed surface that can accommodate insertion and removal of at least one device cagefrom at least one holder mount().

Referring now to, at least one lidcan include at least one cavityD configured to accommodate forcing of any device. At least one lidcan provide a cover for device() and can include operable coupling with device holder() using flexible-tip set screw(). At least one lidcan include lid first sideA and lid second sideB. Lid first sideA can provide an interface with pressure actuator assembly(), and can include at least one device interface cavityD and device cage cavitiesC. At least one device cage cavityC can operably couple with at least one lid mounting cavityJ () through at least one type of fastener that can include, but is not limited to including, bolts, screws, hook-and-eye, and glue. At least one device interface cavityD can accommodate, but is not limited to accommodating, at least one pin actuator(). Coupling cavityE can operably couple with at least one holder mounting cavityD (). Lid second sideB can optionally include cavitiesF/G/H/J that can accommodate, for example, protrusions from a particular device.

Referring now to, flexible-tip set screwcan operably couple at least one lid() to device cage() at indentF (). Flexible-tip set screwcan include, but is not limited to including, cylindrical bodyC that can include, but is not limited to including, threading, and can include body first endF and body second endG. Body first endF can include flexible tipA that can enable snap-in placement and accurate alignment of device cage(). Body first endF can include beveled edgesB. Body second endG can include beveled edgeE, and can optionally include driver head cavityH that can accommodate, for example, but not limited to, a flat head screw driver. Body second endG can include any type of screw head such as, for example, but not limited to, Philips, Allen, and/or a combination of head types.

Referring now to, end effector offsetcan provide an interface between actuator assembly() and pin actuator() and/or fluid shutoff actuator(). End effector offsetcan include, but is not limited to including, arm end cavityB that can house arm endH() and, optionally, fluid shutoff actuator(). End effector offsetcan include pin actuator cavityA that can house pin actuator(). In some configurations, pin actuator cavityA can include beveled edgesE for flush mounting. In some configurations, end effector offsetcan include first portionC that can be a different size from second portionD. The different portion sizes can form a taper. In some configurations, first portionC can include shaped endF that can be, for example, but not limited to, rounded. In some configurations, end effector offsetcan include beveled edgesG that can, for example, reduce the overall weight of force actuation system(). End effector offsetcan include depthH that can vary according to the sizes of arm endH() and pin actuator(), or for any other reason.

Referring now to, flexible tip set screwcan provide snap-in fastening and alignment between device holder mount() and device cage(). Set screwcan include threadsA that can be any direction, density, diameter, thread count, and length. Set screwcan include screw first endB and screw second endC. Screw first endB can include screwdriver interfaceE and flexible tipG. Flexible tipG can enable snap-in mounting and alignment of device cage() through cavitiesF () Screw second endC can include screwdriver interfaceD that can accommodate, but is not limited to accommodating, flat head, Philips head, and/or Allen wrench screwdrivers. Screw second endC can include protrusionF that can extend set screwand optionally facilitate access to screwdriver interfaceD.

Referring now to, pin actuatorcan press upon device() to perform forcing on device(). Pin actuatorcan be controlled by actuator assembly() and can provide pressure on device() at pin headF. Pin actuatorcan include, but is not limited to including, first connector stopB and second connector stopC surrounding connector catch areaD that, together, can operably couple pin actuatorwith end effector offset(). Second connector stopC can be terminated with end bulgeE that can provide, for example, but not limited to, connective support to pinA. PinA can be any shape and size, and can be constructed from any type of material suitable for the forcing being performed. Pin actuator can be any length and thickness suitable for the forcing being performed.

Referring now to, fluid shutoff actuatorcan shut down fluid flow from/to bent-u needle() at first fluid pathwayD (). Fluid shutoff actuatorcan include, but is not limited to including, bodyC that can include, but is not limited to including, a substantially non-textured cylindrical surface. BodyC can optionally include a textured surface and a non-cylindrical shape. Fluid shutoff actuatorcan include overhangB that can provide a stopping mechanism that can disable further movement towards device() if necessary. Body cut-outG can streamline fluid shutoff actuatorto fit various-sized openings in lid(), and can accommodate the shape of device(). Fluid shutoff actuatorcan include peg fittingA that can operably couple fluid shutoff actuatorwith armH () at cavityH(). Peg fittingA can include connective supportF that can enhance the coupling between bodyC and peg fittingA. Cutoff baseH can include cavityD that can enable operable coupling between fluid shutoff actuatorand a pressurizing device such as, for example, pin actuator(). FingerE can provide a pressure point to inhibit fluid flow from first fluid pathwayD ().

Referring now to, at least one pressure actuator assemblycan enable applying pressure to device() by controlling pin actuator() according to dynamic pressurizing instructions, and can monitor the results of the pressuring by sensing forces and/or linear displacement encountered during the pressurizing. At least one pressure actuator assemblycan include controller housingA than can house and protect controller printed circuit boardD () and motorC () (within motor housingB ()). Pressure actuator assemblycan include actuator armH that can couple electronic and mechanical movement means to move and position pin actuator(). Pressure actuator assemblycan include linear actuatorG that can force actuator armH into a position appropriate for forcing device() or another type of device, as directed by controllerD(), and actuator mountK that can couple linear actuator with controller housingA. Actuator mountK can include fastening cavities that can couple actuator mountK with platform() at actuator mounting cavitiesD/F/G/H () using, for example, fastenersA and/or alignment peg.

Referring now to, pressure actuator assemblycan include motor/PCB housingB (), motorC (), controller PCBD (), and encoder PCB (not shown). Motor interfaceE () can couple motorC () to linear actuatorG (). Linear actuatorG () can be operably coupled with slide blockJ (). Arm adapterI can operably couple actuator armH () with slide blockJ ().

Referring now to, actuator mountK can include, but is not limited to including, mount first sideKand mounting faceK. Mount first sideKcan include at least one linear actuator mounting cavityKthat can be used to fasten linear actuatorG () to actuator mountK. Linear actuator mounting featuresKcan enable accurate and stable placement of linear actuatorG (). Actuator mountK can include at least one stability featureKthat can enable actuator mountK to rigidly support linear actuatorG (). Actuator mountK can be aligned and stably positioned on platform() by alignment pegs() in peg cavitiesK. Actuator mountK can be securely fastened to platform() by any attachment means such as, for example, but not limited to, glue, screws, bolts, and/or hook-and-eye. In some configurations, the attachment means can be screws and/or bolts through cavitiesK/K.

Referring now to, motor/PCB housing coverA can include connector bump outAthat can provide a space for connectors and wiring between motorC () and encoder PCB (not shown). Motor/PCB housing coverA can include CANbus cavityAthat can enable CANbus/power wiring to pass between CAN/power connectorsD() and external communications/power supply (not shown). Motor vent cavityA, that can include, but is not limited to including, louversA, can enable ventilation to motorC (). Bump outAcan widen motor/PCB housing coverA to accommodate the geography of controller PCBD (). Filet edgeAcan streamline the profile of motor/PCB housing coverA to manage overall weight and maintain strength and stability of force actuation system(). Ridge featureAcan accommodate alignment while inserting/removing motor/PCB housingB ().

Referring now to, motor/PCB housingB can include at least one mounting featureBthat can enable mounting of encoder PCB (not shown). HousingB can include at least one indentBthat can enable air flow around encoder PCB (not shown), and can manage overall weight. MotorC () can be vented through motor ventsB, and snap-on featuresBcan enable secure mounting of housingB within coverA (). Motor couplingE () can snap into alignment across bridgeBand can be securely attached with fastening means through, for example, cavitiesB/B. Fastening means can include, but are not limited to including, screws, bolts, glue, and hook-and-eye. Controller PCBD () can be mounted to housingB at controller mounting pointsB, and can rest upon lipB. MotorC () and motor couplingE () can be housed within housingB.

Referring now to, controller printed circuit board (PCB)D can provide commands to control force actuation system() and can receive sensor input that can inform the commands. Controller PCBD can include, but is not limited to including, CPUD, at least one capacitorD, and several connectors to off-board devices. For example, controller PCBD can include CAN/power connectorsDthat can connect controller PCBD to power and external communications devices. Controller PCBD can include quad encoder power connectorDthat can enable power for the encoder PCB (not shown) for motorC () and controller PCBD. Controller PCBD can include Hall sensor connectorDthat can enable signal exchange between Hall sensor PCB (not shown) mounted on actuator armH () and controller PCBD, and quad encoder PCB connectorDthat can enable signal exchange between quad encoder (not shown) and controller PCBD. Any configuration of Hall sensor connectorDand quad encoder PCB connectorDis possible. Controller PCBD can include motor connectorsDthat can enable signal exchange between motorC () and controller PCBD.

Referring now to, arm adapterI can enable alignment between linear actuatorG () and actuator armH (). Arm adapterI can include, but is not limited to including, at least one mounting cavitythat can accept fastening means such as, for example, but not limited to, screws and/or bolts that can attach arm adapterI to slide blockJ (). Arm adapterI can include vertical and horizontal alignment featuresI/I/I/I/I, and can be sized to fit in arm cavityH() in actuator armH (), enabling stable alignment between linear actuatorG () and actuator armH ().

Referring now to, linear actuator/actuator arm assembly can include, but is not limited to including, actuator armH that can be connected to slide blockJ. Slide blockJ can be operably coupled with linear actuatorG. Linear actuator/actuator arm assembly can be driven by motorC that can be operably coupled with linear actuatorG through motor couplingE.

Referring now to, after actuator armH encounters device(), actuator armH can receive a constant force from pin actuator() that can receive the force from device(). Actuator armH can be displaced based on the force supplied by device(), and the displacement can determine the amount of force received. Actuator armH can include, but is not limited to including, pivot memberHthat can change position with the change in force and can return to a neutral position through action of springsH. Displacement of force memberHcan be determined by gapsH/Hthat can be formed by the movement of displacement blockH. Displacement blockHcan include a hard stop after a certain amount of displacement/force. Actuator armH can include mounting memberHthat can be operably coupled with end effector offset () in cavityB (), and can enable mounting of fluid shutoff actuator() at peg fittingA (). In some configurations, cavityHcan accommodate a fastener such as a screw or bolt. A sensor that can detect displacement of pivot memberHcan be mounted at cavityH, and electronics to receive data from the sensor can be mounted at mounting cavitiesH. CavitiesH/H, as well as shaped edgedH, can enable overall weight and part placement management. A Hall sensor magnet (not shown) can be mounted at, for example, fastener cavitiesH, with possible associated Hall sensor PCB at cavityHmounted at fastener cavitiesH.

Referring now to, motorC can include, but is not limited to including, a DC motor, brushless or brushed, having, for example, an ironless rotor and aluminum nickel cobalt magnets. MotorC can include, for example, MAXON® A-max motors.

Referring now to, slide blockJ can include at least one fastener cavityJthat can accommodate mounting of arm adapterI () onto slide blockJ. Slide block guidesJand slide block rail fittingsJ/Jcan ride on actuator railsG(), and actuator bumperJcan inhibit progress of slide blockJ when bumperJencounters an obstacle. Slide blockJ can accommodate lead or ball/lead screwG() in cavityJ.

Referring now to, linear actuatorG can include motor cavityGthat can accommodate motor couplingE (). MotorC () can drive ball/lead screwGand thus propel slide blockJ (), actuator armH (), and ultimately pin actuator(). Linear actuator can include railsGupon which slide blockJ () can ride. Linear actuator can include mounting cavitiesGthat can enable operable coupling of linear actuatorG to actuator mountK ().

Referring now to, motor couplingE can operably couple linear actuatorG () with motorC () to transmit power between them. Motor couplingE can include a clamping mechanism such as, for example, but not limited to, bellows and/or beam. Motor couplingE can include commercially-available devices such as, for example, but not limited to, LOVEJOY® couplings. Motor couplingE can optionally include a clutch that can limit torque. Motor couplingE can also include flexible and jaw couplings. Motor couplingE can optionally compensate for lateral, axial, and angular misalignments. Motor couplingsE can optionally include no backlash and require no maintenance. Motor couplingE can include, but is not limited to including, bodyEthat can, for example, include a cylindrical shape. Motor couplingE can include motor mount cavityEand linear actuator mount cavityE.

Referring now primarily to, methodfor activating/applying force to a device can include, but is not limited to including, settinga target first characteristic of a pressure actuator, the pressure actuator having an actual first characteristic, settinga target second characteristic of the pressure actuator, the pressure actuator having an actual second characteristic, and adjustingthe pressure actuator, the adjusting enabling the actual first characteristic to approach the target first characteristic, and the actual second characteristic to approach the target second characteristic. Methodcan include stoppingthe adjusting when the first of the actual first characteristic substantially equals the target first characteristic, or the actual second characteristic substantially equals the target second characteristic happens, and monitoringthe actual first characteristic over time. In some configurations, a test can be executed in which the force can be held constant by modifying the position of actuator armH ().

Referring now to, force actuator systemcan include, but is not limited to including, force actuator, processor, receiving computer aided design (CAD) filesand other information through, for example, but not limited to, electronic communications from external applications, and motion controller. Processorcan provide commands to motion controllerthat can test the structures designed and provided in CAD files. Processorcan also receive, for example, vision datafrom vision system, hardware/sensor data, and user input, and can calculate Gcodebased at least on a combination of one or more of CAD files, vision data, user input, hardware data, and other information. Interpretercan interpret Gcodeand provide position and force (PF) informationto motion controller. Motion controllercan compute at least one motion commandbased at least on PF information, and can provide at least one motion commandto force actuator. Force actuatorcan control at least one pin actuator() based on at least one motion command.

Continuing to refer to, command interfacecan enable user inputthat can be used to manually command and/or to assist in automatically commanding force actuator. Command interfacecan include, but is not limited to including, options for adjusting the type of motion controller, the available electronic communications, and whether or not electronic communicationswith external applicationsis connected. Options can be adjusted through command interface. The values of the axes controlled by motion controllercan be shown and jogged using command interface. The jog function can enable free movement of force actuatorto accommodate maintenance and repair of force actuator.

Continuing to refer to, interpretercan receive Gcodefrom CAD processor, and can transform Gcodeinto PF informationthat can be used by motion controllerto create motion commandsfor force actuator. Interpretercan interface with motion controllerthrough any kind of electronic communicationsincluding, but not limited to, direct wiring, Ethernet, and USB.

Referring now primarily to, controller code can control an arbitrary number of actuators such as are incorporated in actuator assembly() in any desirable configuration. Each actuator can be controlled, for example, by one or more of several configurable control types, and can be linked to one or more sensors. Configurable control types can include, but are not limited to including, passive pass-through commands, PID control loop, and configurable PID loops for multiple inputs. Motion controllercan enable configuration of nested control loops. In some configurations, motion controllercan include, but is not limited to including, group processorA, node processorB, sensor objectC, sensor driversD, actuator drivers, hardware drivers, and error processorE. Group processorA can control, through node processorB, nodes to which actuators can be associated. Actuators can be grouped to accomplish coordinated and/or synchronized motion, and can be controlled, by actuator drivers, locally and/or remotely through networks that can communicate using, for example, but not limited to, standard CANbus and/or EtherCAT protocols. Actuators can control, for example, rotational and/or linear motion, and can be of various types, for example, but not limited to, binary valves, pneumatic compressors, small block valves (described in, for example, U.S. patent application Ser. No. 14/327,206, entitled Valve Apparatus and System), and heated elements. Sensor objectC can control sensors that can sense, for example, but not limited to, motor position, linear position, pressure, gyroscopic signals, accelerometer signals, and temperature. Sensors can include primary sensors that can feed into a control loop and secondary sensors that can provide feed forward information. Motion controllercan include options for multiple sensor inputs, and sensor limits can be used by motion controllerto, for example, raise warnings and/or stop motion. Types of hardware driverscan include, but are not limited to including local drivers, CAN drivers, motor drivers manufactured by, for example, AMC® and/or Maxon®, and sell block (described in, for example, U.S. patent application Ser. No. 14/967,093 entitled Modular Valve Apparatus and System).